Changing operation assisting apparatus

ABSTRACT

Further, the driving assistance control section executes a setting change confirmation processing upon satisfaction of a specific condition. The setting change confirmation processing is a process of providing confirmation information to confirm whether or not to change the request state of the function, and changing the request state of the function when the driver performs an approving operation in accordance with the confirmation information.

TECHNICAL FIELD

The present disclosure relates to a changing operation assistingapparatus which assists a driver in changing set states of drivingassistance functions provided by a vehicle.

BACKGROUND

There has been known a vehicle which includes a driving assistance(supporting) system for providing driving assistance functions forassisting a driver in driving. Examples of the driving assistancefunctions include a radar cruise control (RCC) function, a lane tracingassist (or a lane keeping assist) function, a preceding vehicle startnotification function, and an autonomous driving function.

The driving assistance system is configured to allow the driver toactivate and deactivate some driving assistance functions. Further, thedriving assistance system is configured to allow the driver to set andchange control parameters necessary for assisting operations provided bythe driving assistance system (for example, a control parameterdesignating a target inter-vehicular distance for the RCC function). Ina case where the driving assistance system is configured to provide alarge number of types of driving assistance functions and/or in a casewhere the number of settable and changeable items (such as the controlparameters) of each driving assistance function is large, driver'soperations necessary for changing the set state of each drivingassistance function may become cumbersome.

In view of the above, one of conventional changing operation assistingapparatuses (hereinafter also referred to as the “conventionalapparatus”) is configured such that, when the driver operates a firstswitch, the conventional apparatus activates the autonomous drivingfunction if the vehicle is in a condition in which the vehicle canprovide the autonomous driving function. Meanwhile, if the vehicle is ina condition in which the vehicle cannot provide the autonomous drivingfunction when the driver operates the first switch, the conventionalapparatus activates another driving assistance function whose level ofassistance is lower than that of the autonomous driving function.

According to the conventional apparatus, since activation of the twodriving assistance functions can be instructed through a singleoperation on a single switch, the number of switches used for changingthe set states of the driving assistance functions can be reduced.Therefore, the conventional apparatus can simplify the operationnecessary for changing the set states of the driving assistancefunctions (see, for example, Japanese Patent Application Laid-Open(kokai) No. 2018-75873).

SUMMARY

Incidentally, there is a possibility that the driver erroneouslyoperates an operation switch (for example, the above-described firstswitch) for changing the set state of a certain driving assistancefunction. In addition, there is a possibility that the driver operatesan operation switch in a state in which the driver has not correctlyunderstood a “setting item which is changed through an operation of theoperation switch.”

Therefore, due to such a driver's erroneous operation ormisunderstanding, the set state (for example, a request state which iseither of an OFF state and an ON state) of a certain driving assistancefunction may be changed against the driver's will (intention). If therequest state of a certain driving assistance function is the OFF state,that driving assistance function is not executed even in a situationwhere it is desirable that that driving assistance function is executed.Namely, execution of the driving assistance of that driving assistancefunction is prohibited. Meanwhile, when the request sate of the certaindriving assistance function is the ON state, that driving assistancefunction is executed upon occurrence of a situation where that drivingassistance function can be executed. Namely, execution of the drivingassistance by that driving assistance function is permitted.

However, in the conventional apparatus, no consideration has been givento prevention of changing (namely, erroneous setting) of the requeststate of a driving assistance function, which changing would otherwiseoccur against the driver's will due to his/her erroneous operation ormisunderstanding.

In view of the above, one object of the present disclosure is to providea changing operation assisting apparatus which can avoid (prevent) theoccurrence of erroneous setting of the request state regarding a drivingassistance function, which erroneous setting would otherwise occur dueto a driver's erroneous operation or misunderstanding.

A changing operation assisting apparatus for achieving theabove-described object (hereinafter also referred to as the “apparatusof the present disclosure”) comprises a driving assistance controlsection, an operation section, and an information providing section. Thedriving assistance control section may be implemented by at least oneprogrammed processor whose operation is determined by a predeterminedprogram, gate arrays and the like.

The driving assistance control section (a driving assistance ECU 20) isconfigured to store a “set state” regarding each of driving assistancefunctions of a vehicle (10), the set state including a “request statewhich is either one of an OFF state and an ON state,” and to provide thedriving assistance functions in accordance with each of the set states.

The operation section (an operation switches 60) is used for an“operation” by a driver of the vehicle for changing the set state, andis configured to output, to the driving assistance control section,information regarding the operation performed by the driver. Theoperation includes a predetermined “request state changing operation”performed so as to change the request state.

The information providing section (a display 27) is configured to becontrolled by the driving assistance control section and provideinformation regarding the set state to the driver.

Furthermore, the driving assistance control section executes a “settingchange confirmation processing” upon satisfaction of a predetermined“specific condition” (i.e., when the specific condition becomessatisfied).

The setting change confirmation processing is a process of controllingthe information providing section to provide, to the driver,“confirmation information” to confirm whether to change the requeststate of a “confirmation target function” among the driving assistancefunctions, and of changing the request state of the confirmation targetfunction when the driver performs a predetermined “approving operation”by using the operation section in accordance with the confirmationinformation.

In a case where the specific condition has been satisfied (namely, thesetting change confirmation processing has been executed), the requeststate of the confirmation target function is changed when the driverperforms the approving operation in accordance with the confirmationinformation provided by the information providing section. Namely, therequest state of the confirmation target function is switched betweenthe OFF state and the ON state. In other words, in a case where thedriver has erroneously performed the request state changing operation orin a case where the driver misunderstood the procedure of the requeststate changing operation, the driver does not perform the approvingoperation, and consequently, the request state is not changed.Accordingly, the apparatus of the present disclosure can avoid (prevent)the occurrence of erroneous setting of the request state regarding adriving assistance function, which erroneous setting would otherwiseoccur due to a driver's erroneous operation or misunderstanding.

In one mode (first mode) of the apparatus of the present disclosure, thedriving assistance control section is configured to determine that thespecific condition is satisfied upon satisfaction of a condition whichis satisfied when the driver has performed, to the operation section, apredetermined “similar operation” which is different from (but similarto) the request state changing operation for changing “the request stateof the confirmation target function” to the ON state. The similaroperation is an operation which is apt (likely) to be performed by thedriver (due to his/her erroneous operation or misunderstanding) so as tochange the request state to the ON state (a “Yes” determination in step1920 of FIG. 19).

When the driver performs the similar operation different from therequest state changing operation for changing the request state of acertain driving assistance function (specifically, the confirmationtarget function), the setting change confirmation processing isexecuted. In addition, when the driver performs the approving operationduring execution of the setting change confirmation processing, therequest state of the confirmation target function is changed.Accordingly, in the first mode, even in a case where the driver performsthe similar operation due to his/her erroneous operation ormisunderstanding, the driver can change the request state of theconfirmation target function to a desired state by performing theapproving operation.

In another mode (second mode) of the apparatus of the presentdisclosure, the driving assistance control section is configured todetermine that the specific condition is satisfied upon satisfaction ofa condition which is satisfied when the driver has performed, for theconfirmation target function, the request state changing operation forchanging “the request state of the driving assistance function” to theOFF state (a “Yes” determination in step 2015 of FIG. 20).

In some cases, the driving assistance control section provides a drivingassistance function whose request state is desirably maintained in theON state unless there is a special reason. In a case where such adriving assistance function has been selected in advance as theconfirmation target function, even when the driver performs an operationof changing the request state of the confirmation target function to theOFF state (namely, the request state changing operation), the requeststate is not changed to the OFF state unless the driver further performsthe approving operation. Accordingly, in the second mode, erroneouslychanging of the request state of the confirmation target function to theOFF state can be avoided.

In still another mode (third mode) of the apparatus of the presentdisclosure, the driving assistance control section is configured todetermine that the specific condition is satisfied upon satisfaction ofa condition which is satisfied when the request state changing operationis performed so as to change the request state of “the drivingassistance function, which has been related to the confirmation targetfunction in advance and is different from the confirmation targetfunction,” to the ON state while the request state of the confirmationtarget function has been the OFF state (a “Yes” determination in step2120 of FIG. 21).

In some cases, a certain driving assistance function (function A) isexecuted under the assumption that another driving assistance function(function B) is being executed. In another case, the range ofapplication of a certain driving function (function A) is expanded ifanother driving assistance function (function B) is being executed. Inthose cases, for the sake of convenience, the function B will also bereferred to as a “prerequisite function” for the function A.

In a case where the prerequisite function (the function B in thisexample) for the function A has been stored as the confirmation targetfunction which relates to the function A, the setting changeconfirmation processing is executed when the driver performs anoperation of changing the request state of the function A to the ONstate (namely, the request state changing operation) while the requeststate of the prerequisite function (the function B) has been the OFFstate. In addition, when the driver performs the approving operationduring execution of the setting change confirmation processing, therequest state of the prerequisite function (the function B) is switchedto the ON state. Accordingly, in the third mode, in a case where thedriver has forgotten (failed) to switch the request state of theprerequisite function (the function B) to the ON state (before thedriver performs the operation of changing the request state of thefunction A to the ON state) or in a case where the driver does not knowthe presence of the prerequisite function, the request state of theprerequisite function can be easily switched to the ON state.

In still another mode (fourth mode) of the apparatus of the presentdisclosure, the driving assistance control section is configured todetermine that the specific condition is satisfied upon satisfaction ofa condition which is satisfied when a traveling state of the vehiclecorresponds to (becomes) “a specific traveling state previouslydetermined for the confirmation target function” while the request stateof the confirmation target function has been the OFF state (a “Yes”determination in step 2220 of FIG. 22).

In some cases, the driving assistance control section can provide adriving assistance function (referred to as a traveling state relatedfunction) which is particularly useful when the traveling state of thevehicle corresponds to (becomes) the specific traveling state. In a casewhere the traveling state related function is the confirmation targetfunction, when the traveling state of the vehicle becomes the specifictraveling state in a state in which the request state of the travelingstate related function has been the OFF state, the setting changeconfirmation processing is performed for the traveling state relatedfunction. In addition, when the driver performs the approving operationduring execution of the setting change confirmation processing, therequest state of the traveling state related function is switched to theON state. Accordingly, in the fourth mode, in a case where the driverhas forgotten (failed) to switch the request state of the travelingstate related function to the ON state (before the traveling state ofthe vehicle becomes the specific traveling state) or in a case where thedriver does not understand the usefulness of the traveling state relatedfunction (for the specific traveling state), the request state of thetraveling state related function can be easily switched to the ON state.

In still another mode (fifth mode) of the apparatus of the presentdisclosure, the driving assistance control section is configured todetermine that the specific condition is satisfied upon satisfaction ofa condition which is satisfied when the request state changing operationcorresponding to the confirmation target function is performed.

It is desired that the required (necessary) procedure of the settingchange operation is simple. However, when the procedure is excessivelysimple, the possibility that the driver erroneously changes the requeststate of the driving assistance function is too high. In contrast, inthe fifth mode, the setting change confirmation processing is executedbefore the request state of the driving assistance function is changed.Thus, in a case where a “driving assistance function whose setting canbe changed through a simple procedure” is the confirmation targetfunction as well, the setting change confirmation processing isexecuted. Accordingly, in the fifth mode, erroneous changing of therequest state of the driving assistance function can be avoided(prevented).

In still another mode (sixth mode) of the apparatus of the presentdisclosure, the driving assistance control section is configured suchthat, in a case where the setting change confirmation processing hasbeen executed after an ignition-ON operation of the vehicle isperformed, the driving assistance control section does not execute thesetting change confirmation processing again before an ignition-OFFoperation of the vehicle is performed, even when the specific conditionis satisfied (a “No” determination in step 1925 of FIG. 19).

A period between a point in time when an ignition switch of the vehicleis turned on (namely, when the ignition-ON operation is performed) and apoint in time when the ignition switch is turned off (namely, when theignition-OFF operation is performed) is referred to as a “trip.” In thesixth mode, repeated execution of the setting change confirmationprocessing for the confirmation target function in the same/single tripis avoided (prohibited). In addition, in a case where the apparatus ofthe present disclosure executes a plurality of types of setting changeconfirmation processing (namely, a plurality of specific conditions arepresent, and the setting change confirmation processing is executed foreach of the specific conditions), repeated execution of the settingchange confirmation processing of the same type (corresponding to asingle specific condition) in the same (single) trip is avoided(prohibited). Accordingly, in the sixth mode, it is possible to avoid asituation in which the driver feels a sense of bother or troublesomesince the setting change confirmation processing is executed a pluralityof times in the same (single) trip.

Notably, in the above description, in order to facilitate understandingof the present disclosure, the constituent elements of the disclosurecorresponding to those of an embodiment of the disclosure which will bedescribed later are accompanied by parenthesized names and/or symbolswhich are used in the embodiment; however, the constituent elements ofthe disclosure are not limited to those in the embodiment defined by thenames and/or the symbols. Other objects, other features, and attendantadvantages of the present disclosure will be readily appreciated fromthe following description of the embodiment of the disclosure which ismade with reference to the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a vehicle (present vehicle) in which achanging operation assisting apparatus according to an embodiment of thepresent disclosure (present assisting apparatus) is installed;

FIG. 2 is a block diagram of the present vehicle;

FIG. 3 is an illustration showing an instrument panel in which a displaysection of the present assisting apparatus is arranged;

FIG. 4 is an illustration showing a steering wheel on which theoperation section of the present assisting apparatus is arranged;

FIG. 5 is a table showing a list of driving assistance functions whichthe present assisting apparatus provides;

FIG. 6 is an illustration of a top screen which the present assistingapparatus displays on the display section;

FIG. 7 is an illustration of a vehicle setting screen which the presentassisting apparatus displays on the display section;

FIG. 8 is an illustration of a setting screen of a pre-crush safetyfunction which the present assisting apparatus displays on the displaysection;

FIG. 9 is an illustration of a setting screen of a preceding vehiclestart notification function which the present assisting apparatusdisplays on the display section;

FIG. 10 is an illustration of a changing confirmation screen related toa RCC starting confirmation processing which the present assistingapparatus executes;

FIG. 11 is an illustration of a changing notification screen related tothe RCC starting confirmation processing;

FIG. 12 is an illustration of a changing confirmation screen related toan operation stopping confirmation processing which the presentassisting apparatus executes;

FIG. 13 is an illustration of a changing notification screen related tothe operation stopping confirmation processing;

FIG. 14 is an illustration of a changing confirmation screen related toa prerequisite function starting processing which the present assistingapparatus executes;

FIG. 15 is an illustration of a first changing notification screenrelated to the prerequisite function starting processing;

FIG. 16 is an illustration of a second changing notification screenrelated to the prerequisite function starting processing;

FIG. 17 is an illustration of a changing confirmation screen related toan operation starting suggestion processing which the present assistingapparatus executes;

FIG. 18 is an illustration of a changing notification screen related tothe operation starting suggestion processing;

FIG. 19 is a flowchart representing an RCC starting confirmationprocessing routine executed by the present assisting apparatus;

FIG. 20 is a flowchart representing an operation stopping confirmationprocessing routine executed by the present assisting apparatus;

FIG. 21 is a flowchart representing a prerequisite function startingprocessing routine executed by the present assisting apparatus; and

FIG. 22 is a flowchart representing an operation starting suggestionprocessing routine executed by the present assisting apparatus.

DETAILED DESCRIPTION

A changing operation assisting apparatus (hereinafter also referred toas the “present assisting apparatus”) according to an embodiment of thepresent disclosure will now be described with reference to the drawings.The present assisting apparatus is applied to a vehicle 10 shown inFIG. 1. In addition, a block diagram of the vehicle 10 is shown in FIG.2. The present assisting apparatus includes “a drive assistance ECU 20,an engine ECU 31, a brake ECU 32, and an EPS-ECU 33” each of which is anelectronic control unit (ECU).

The drive assistance ECU 20 includes a micro-computer, as a majorcomponent, which includes a CPU, a non-volatile memory, and a RAM. TheCPU performs data reading, numerical computation, computation resultoutput, and so on by repeatedly executing predetermined programs(routines). The non-volatile memory is formed by a flash memory andstores the programs executed by the CPU, lookup tables (maps) read bythe CPU during execution of the programs, set states of drivingassistance functions described later, and the like. The RAM temporarilystores data read by the CPU.

Each of the engine ECU 31, the brake ECU 32, and the EPS-ECU 33 includesa micro-computer as a major component, similarly to the drive assistanceECU 20. These ECUs can perform data communication (can exchange data)with one another through a CAN (controller area network) 34. Inaddition, each ECU can receive “output values of a sensor connected toone of the other ECUs” from that ECU to which the sensor is connectedthrough the CAN 34.

The drive assistance ECU 20 is connected to a front camera 21,millimeter wave radars 22, a vehicle speed sensor 23, an accelerationsensor 24, a GPS receiving section 25, a map database 26, a multiinformation display 27, and a speaker 28.

The front camera 21 (see FIG. 1) captures (takes) an image of a regionin front of the vehicle 10 (hereinafter also referred to as “a frontimage”) and outputs signals representing the front image to the driveassistance ECU 20 every time a predetermined time elapses.

As shown in FIG. 1, the millimeter wave radars 22 includes a frontcenter radar 22 a, a front left radar 22 b, a front right radar 22 c, arear left radar 22 d, and a rear right radar 22 e, each of which is aradar unit.

The front center radar 22 a detects a target in a region located forward(ahead) of the vehicle 10. The front left radar 22 b detects a target ina region located forward and leftward of the vehicle 10. The front rightradar 22 c detects a target in a region located forward and rightward ofthe vehicle 10. The rear left radar 22 d detects a target in a regionlocated backward and leftward of the vehicle 10. The rear right radar 22e detects a target in a region located backward and rightward of thevehicle 10.

Each of the radar units contained in the millimeter wave radars 22transmits (radiates) a radio wave of the millimeter wave band andreceives “a reflected wave of the transmitted wave” generated by atarget so as to obtain information as “target information” whichrepresents a direction, a distance, a relative speed, and so on of thetarget with respect to the vehicle 10. In addition, each of the radarunits outputs the target information to the drive assistance ECU 20every time a predetermined time elapses.

The vehicle speed sensor 23 detects a vehicle speed Vt which is thetravel speed of the vehicle 10 and outputs a signal indicative of thevehicle speed Vt to the drive assistance ECU 20. The acceleration sensor24 detects an acceleration As of the vehicle 10 in the longitudinaldirection and outputs a signal indicative of the acceleration As to thedrive assistance ECU 20.

The GPS receiving section 25 obtains a present position Pn of thevehicle 10 on the basis of signals (radio waves) from global positioningsatellites (in the present embodiment, the GPS (Global PositioningSystem) satellites) and outputs a signal representing the presentposition Pn to the drive assistance ECU 20.

The map database 26 is formed by a hard disk drive (HDD) and stores amap data. The map database 26 includes (retains) information (mapinformation) regarding “nodes,” “links” and “facilities.” The nodes areintersections, dead ends, and so on. The links are roads, eachconnecting between the nodes. The facilities are buildings, parking lots(car parks), and so on, located along the links. In addition, the mapinformation regarding the links includes road categories (in the presentembodiment, any one of ordinary road, expressway, and limited highwayincluding freeway exclusively for motor vehicles).

The multi information display 27 is disposed in an instrument panel 29shown in FIG. 3. The instrument panel 29 is mounted at a position whicha driver of the vehicle 10 can view (namely, in front of the driver, seeFIG. 1) and notifies the driver of driving status of the vehicle 10. Themulti information display 27 is also referred to as the display 27 forsimplification.

The display 27 comprises a LCD (liquid crystal display). Characters,figures, and so on, to be displayed on the display 27 are controlled bythe drive assistance ECU 20. In addition, as described later, executionstatus of the driving assistance functions is displayed on the display27.

The speaker 28 is disposed inside a vehicle compartment of the vehicle10. A warning sound and a voice message to be played (generated) by thespeaker 28 are controlled by the drive assistance ECU 20. The driveassistance ECU 20 makes (lets) the speaker 28 reproduce a predeterminedbeep sound as necessary, when a screen displayed on the display 27 isswitched over and when the driver operates an operation switches 60described later.

In addition, the drive assistance ECU 20 is connected to an ignitionswitch 35. In the present embodiment, the ignition switch 35 is a pushbutton. An operation to the ignition switch 35 performed when theoperation state of the drive assistance ECU 20 is an OFF state is alsoreferred to as an “ignition-ON operation.” When the ignition-ONoperation is performed, the operation state of the drive assistance ECU20 is switched to an ON state.

In addition, when the ignition-ON operation is performed, the driveassistance ECU 20 switches each of the operation states of the engineECU 31, the brake ECU 32, and the EPS-ECU 33 from the OFF state to theON state. At this time point, the engine ECU 31 starts the operation ofan engine 41 described later.

On the other hand, an operation to the ignition switch 35 performed whenthe operation state of the drive assistance ECU 20 is the ON state isalso referred to as an “ignition-OFF operation.” When the ignition-OFFoperation is performed, the drive assistance ECU 20 switches each of theoperation states of the engine ECU 31, the brake ECU 32, and the EPS-ECU33 from the ON state to the OFF state. At this time point, the engineECU 31 stops the operation of the engine 41. Further, the operationstate of the drive assistance ECU 20 becomes the OFF state.

The operation switches 60 shown in FIG. 2 are arranged on a steeringwheel 55 as illustrated in FIG. 4. The operation switches 60 include acruise control switch 61, a cancel switch 62, a following distance (ortarget inter-vehicular distance) setting switch 63, an LTA switch 64, aselection switch 65, an OK switch 66, and a back switch 67. The cruisecontrol switch 61 is also referred to as the CC switch 61 forsimplification.

The drive assistance ECU 20 is connected to each of the operationswitches 60 and configured to receive information regarding an operationby the driver to each of the operation switches 60. Specifically, wheneach of the operation switches 60 is pressed and when each of theoperation switches 60 is released from pressing, the drive assistanceECU 20 can detect them. In other words, the drive assistance ECU 20 candetect pressing down of any one of the operation switches 60 when thatone of the switches 60 is pressed down. The drive assistance ECU 20 canalso detect releasing of any one of the operation switches 60 from thepressed state, when that one of the switches 60 is released. Asdescribed later, the driver of the vehicle 10 can change the settingsates of the driving assistance functions by operating the operationswitches 60.

The CC switch 61 is so-called “cross key” and contains buttons(switches) of four directions (namely, an upper part (direction), alower part, a right part, and a left part). A main switch is assigned tothe right part of the CC switch 61. Namely, pressing the right part ofthe CC switch 61 is equivalent to pressing the main switch. Similarly, aresume switch is assigned to the upper part of the CC switch 61. A setswitch is assigned to the lower part of the CC switch 61.

The selection switch 65 is so-called “cross key”, similarly to the CCswitch 61. A rightward switch is assigned to the right part of theselection switch 65. A leftward switch is assigned to the left part ofthe selection switch 65. An upward switch is assigned to the upper partof the selection switch 65. A downward switch is assigned to the lowerpart of the selection switch 65.

Control of Drive Force

The engine ECU 31 controls an engine 41 and a transmission 42 so as toadjust (control) a drive force of the vehicle 10 (see FIG. 2). Theengine ECU 31 is connected to a plurality of engine sensors 43 andreceives detection signals from these sensors. The engine sensors 43detect operation state quantities (parameters) of the engine 41. Theengine sensors 43 include an accelerator pedal operation amount(depression amount) sensor, a throttle valve opening sensor, an enginerotational speed sensor, an intake air amount sensor, and so on. Theengine ECU 31 determines a required drive torque Dreq (a required valueof a drive torque Dd described later) on the basis of the vehicle speedVt and output values of the engine sensors 43.

In addition, the engine ECU 31 is connected to engine actuators 44 whichinclude a throttle valve actuator, and a fuel injection valve, andcontrols the engine actuators 44 so as to control torque generated bythe engine 41. The engine ECU 31 controls the engine actuators 44 andthe transmission 42 such that the “drive torque Dd which is a torquetransmitted to drive wheels of the vehicle 10” coincides with therequired drive torque Dreq, to thereby control the acceleration As.

Further, when the engine ECU 31 receives a “drive force control request”including a target drive force Ddtg from the drive assistance ECU 20,the engine ECU 31 controls the engine actuators 44 and the transmission42 such that the actual drive torque Dd coincides with the target driveforce Ddtg.

Control of Brake Force

The brake ECU 32 controls a brake mechanism 45 which is formed byhydraulic friction brake apparatus installed on the vehicle 10. Thebrake ECU 32 is connected to a plurality of brake sensors 46 andreceives detection signals from these sensors. The brake sensors 46detect state quantities used for controlling the brake mechanism 45. Thebrake sensors 46 include an operation amount sensor for detecting theoperation amount of a brake pedal, pressure sensors of brake oil appliedto the brake mechanism 45, and so on. The brake ECU 32 determines arequired brake force Breq (a required value of a brake force Bfdescribed later) on the basis of the vehicle speed Vt and output valuesof the brake sensors 46.

In addition, the brake ECU 32 is connected to a plurality of brakeactuators 47 which are hydraulic actuators of the brake mechanism 45.The brake ECU 32 controls the brake actuators 47 such that “the actualbrake force Bf which is an actual frictional brake force applied to eachof wheels” coincides with the required brake force Breq so as to controlthe acceleration As (in this case, negative acceleration; namely,deceleration).

Further, when the brake ECU 32 receives a “brake force control request”including a target brake force Bftg from the drive assistance ECU 20,the brake ECU 32 controls the brake actuators 47 such that the actualbrake force Bf coincides with the target brake force Bftg.

Control of Steering Assist Torque and Steering Angle

The EPS-ECU 33 is connected to a torque sensor 51 and a steering anglesensor 52 and receives detection signals from these sensors. The torquesensor 51 detects a steering torque Ts which is a torque applied to thesteering wheel 55 (see FIG. 4) by the driver, and outputs a signalindicative of the steering torque Ts to EPS-ECU 33. The steering anglesensor 52 detects a steering angle θs which is a rotation angle of thesteering wheel 55, and outputs a signal indicative of the steering angleθs to the EPS-ECU 33.

The EPS-ECU 33 determines a target assist torque Tatg which is a targetvalue of a torque for assisting driver's operation to the steering wheel55 (namely, an assist torque), on the basis of the vehicle speed Vt, thesteering torque Ts, the steering angle θs, and so on.

The EPS-ECU 33 is connected to a drive circuit 53. The drive circuit 53supplies electrical power to a steering motor 54. The steering motor 54generates a torque Tm which is a torque for rotating a steering shaft.The EPS-ECU 33 controls the drive circuit 53 such that the torque Tmcoincides with target assist torque Tatg.

Further, when the EPS-ECU 33 receives a “steering angle control request”including a target steering angle θstg from the drive assistance ECU 20,the EPS-ECU 33 controls the steering motor 54 such that the actualsteering angle θs coincides with the target steering angle θstg.

Overview of Driving Assistance Functions

The drive assistance ECU 20 provides various driving assistancefunctions so as to assist drive operation of the vehicle 10 by thedriver. A table of the driving assistance functions provided by thedrive assistance ECU 20 is shown in FIG. 5. An overview of the drivingassistance functions will be described below.

(1) Pre-Crush Safety (PCS)

A pre-crush safety function is a function for generating an alert,generating the brake force Bf, and so on, in a case where the vehicle 10is highly likely to collide with an obstacle (specifically, anothervehicle, a bicycle, a pedestrian, and so on) while the vehicle 10 ismoving forward. Alerts and notifications related to “the pre-crushsafety function and the other of driving assistance functions” areprovided through the display 27 and the speaker 28.

(2) Lane Tracing Assist (LTA)

A lane tracing assist function (hereinafter also referred to as “the LTAfunction” for simplification) includes a “lane deviation alertingfunction,” a “lane deviation preventing function,” and a “lane keepingassist function” which are described later. The lane deviation alertingfunction is a function for generating an alert when the vehicle 10 isabout to deviate from “a lane in which the vehicle 10 is running(hereinafter also referred to as an “own lane”)” while the vehicle 10travels (runs) on an assisting target road (specifically, an expresswayand a limited highway). The lane deviation preventing function is afunction for controlling the steering angle θs such that the vehicle 10does not deviate from the own lane while the vehicle 10 travels on theassisting target road. The lane keeping assist function is a functionfor controlling the steering angle θs such that the vehicle 10 travelsalong the own lane. The lane keeping assist function can be executedwhen a radar cruise control function described later is executed whilethe vehicle 10 travels on the assisting target road.

(3) Road Sign Assist (RSA)

A road sign assist function is a function for recognizing a roadway signlocated ahead of the vehicle 10 and displaying a symbol representing therecognized roadway sign on the display 27. In addition, if a travelstate of the vehicle 10 violates a traffic regulation represented by therecognized roadway sign while the road sign assist function is beingexecuted, an alert is generated to the driver.

In an example of a screen (a top screen 71 described later) displayed onthe display 27 shown in FIG. 6, a roadway sign 71 a represents a speedlimit sign recognized by the road sign assist function.

(4) Radar Cruise Control

The radar cruise control function (hereinafter also referred to as “theRCC function” for simplification) is a function for controlling theacceleration As such that a distance between the vehicle 10 and “another preceding vehicle (hereinafter also referred to as a “followingtarget vehicle”) traveling ahead of the vehicle 10” coincides with apredetermined target inter-vehicular distance without driver's operationto the accelerator pedal. When the following target vehicle is notpresent, the acceleration As is controlled such that vehicle speed Vtcoincides with a set speed Vset which is set by a setting proceduredescribed later. The radar cruise control function is also referred toas an “adaptive cruise control (ACC) function.”

A setting item related to the radar cruise control function is the“target inter-vehicular distance .” The driver can set the targetinter-vehicular distance to any one of “long (namely, relatively longdistance),” “middle (namely, intermediate distance)” and “short (namely,relatively short distance).”

In the top screen 71 shown in FIG. 6, a vehicle symbol 10 a representsthe vehicle 10 and a vehicle symbol 71 b represents the following targetvehicle. In addition, a following distance symbol 71 c represents thatthe target inter-vehicular distance has been set at the “long.”

(5) Preceding Vehicle Start Notification

A preceding vehicle start notification function is a function fornotifying the driver of a preceding vehicle's starting when a distancebetween the vehicle 10 which continues stopping and the precedingvehicle which has started running (moving) becomes equal to or greaterthan a “notification distance,” after the vehicle 10 stopped behind thepreceding vehicle.

A setting item related to the preceding vehicle start notificationfunction is the “notification distance.” The driver can set thenotification distance to any one of the “long,” the “middle” and the“short.”

(6) Blind Spot Monitoring (BSM)

A blind spot monitoring function is a function for notifying the driverof presence of an obstacle on the rear side of the vehicle 10 if theobstacle is present while the vehicle 10 is changing lanes.

(7) Clearance Sonar

A clearance sonar function is a function for notifying the driver of anobstacle (especially, a stationary object; for example, a wall) in thevicinity of the vehicle 10 if such an obstacle is present.

(8) Rear Cross Traffic Alarm (RCTA)

A rear cross traffic alarm function is a function for notifying thedriver of an obstacle (especially, another vehicle) approaching thevehicle 10 on the rear side of the vehicle 10 if such an obstacle ispresent while the vehicle 10 is moving back.

(9) Parking Support Brake (PKSB)

A parking support brake function is a function for generating an alert,generating the brake force Bf, and so on in a case where the vehicle 10is highly likely to collide with an obstacle (especially, a wall, oranother vehicle) while the vehicle 10 is moving at low speeds.

In order to provide these driving assistance functions, the driveassistance ECU 20 utilizes the front image received from the frontcamera 21 and the target information received from the millimeter waveradars 22. In addition, in order to provide the driving assistancefunctions, the drive assistance ECU 20 controls the engine ECU 31, thebrake ECU 32, and the EPS-ECU 33, as needed basis. Namely, the driveassistance ECU 20 transmits the drive force control request, the brakeforce control request, and/or the steering angle control request to oneor more of the ECUs corresponding to each request as necessary.

For example, while executing the RCC function, the drive assistance ECU20 obtains (determines) a target acceleration Astg every time apredetermined time elapses. In order to obtain (determine) the targetacceleration Astg, the drive assistance ECU 20 obtains and utilize adistance and a relative speed between the vehicle 10 and the followingtarget vehicle on the basis of the target information. When thefollowing target vehicle is not present, the drive assistance ECU 20obtains (figures out) the target acceleration Astg such that vehiclespeed Vt coincides with the set speed Vset. In addition, the driveassistance ECU 20 controls the engine ECU 31 and the brake ECU 32 suchthat the actual acceleration As coincides with the target accelerationAstg.

Furthermore, while the LTA function is being executed (morespecifically, while the lane keeping assist function is being executed),the drive assistance ECU 20 obtains (determines) the target steeringangle θstg every time a predetermined time elapses and transmits thesteering angle control request including that target steering angle θstgto the EPS-ECU 33. In order to obtain the target steering angle θstg,the drive assistance ECU 20 extracts (recognizes) a pair of lanesegmentations (markers) (namely, lane segmentation lines) which definesthe own lane (namely, a left side lane segmentation line and a rightside lane segmentation line) included in the front image by a well-knownmethod.

In addition, the drive assistance ECU 20 obtains (determines), as a lanecenter line, a set of center points in the horizontal (lateral)direction between the left side lane segmentation line and the rightside lane segmentation line, each of the lane segmentation linesextending ahead of the vehicle 10, based on a position of the vehicle 10relative to those lane segmentation lines. Further, the drive assistanceECU 20 obtains (determines) the difference (deviation) between the lanecenter line and the actual traveling route of the vehicle 10, andobtains the target steering angle θstg on the basis of the differencesuch that the vehicle 10 travels on/along the lane center line.

Changing Procedure of Setting States related to Driving AssistanceFunctions

The drive assistance ECU 20 is configured to allow the driver of thevehicle 10 to change the setting states (setting values, parameters)related to the driving assistance functions by operation (manipulation)to the operation switches 60. The drive assistance ECU 20 provides theabove-described driving assistance functions based on the changedsetting states. Changing procedures of the driving assistance functions(specifically, the RCC function, the LTA function, and the otherfunctions) will be described.

When the driver presses the main switch of the CC switch 61 while therequest state of the RCC function is the OFF state, and thereafter thedriver presses the set switch within a predetermined time from a timepoint at which the driver presses the main switch of the CC switch 61,the drive assistance ECU 20 switches the request state of the RCCfunction to the ON state. In addition, the drive assistance ECU 20 setsthe set speed Vset to a value which is equal to the vehicle speed Vt atthe present time at which the driver has pressed the main switch of theCC switch 61.

When the resume switch of the CC switch 61 is pressed while the requeststate of the RCC function is the ON state (namely, while the RCCfunction is executed), the drive assistance ECU 20 increases the setspeed Vset by a predetermined amount. Meanwhile, when the set switch ofthe CC switch 61 is pressed while the RCC function is executed, thedrive assistance ECU 20 decreases the set speed Vset by a predeterminedamount. When the cancel switch 62 is pressed or when an operation to thebrake pedal is performed, while the RCC function is executed, the driveassistance ECU 20 switches the request state of the RCC function to theOFF state.

Hereinafter, an operation to switch the request state of a certaindriving assistance function from the OFF state to the ON state will alsobe referred to as an “ON operation” for simplification. Thus, forinstance, the ON operation of the RCC function is an operation ofpressing the set switch of the CC switch 61 within the predeterminedtime after the main switch of the CC switch 61 is pressed. Meanwhile, anoperation to switch the request state of a certain driving assistancefunction from the ON state to the OFF state will also be referred to asan “OFF operation” for simplification. Thus, for instance, the OFFoperation of the RCC function is an operation of pressing the cancelswitch 62 and an operation to the brake pedal. The ON operation and theOFF operation are also collectively referred to as “request statechanging operation” for convenience' sake.

The following distance setting switch 63 is utilized for switching thetarget inter-vehicular distance of the RCC function. Specifically, thedrive assistance ECU 20 switches the target inter-vehicular distance inthe order of the “long”, the “middle”, the “short”, and the “long” . . .each time the following distance setting switch 63 is pressed.

The LTA switch 64 is utilized for switching the request state of the LTAfunction. The drive assistance ECU 20 switches the request state of theLTA function between the ON state and the OFF state each time the LTAswitch 64 is pressed.

In order for the driver to change the setting state related to thedriving assistance functions other than the RCC function and the LTAfunction, the driver performs an operation to the selection switch 65and the OK switch 66 while referring to screens displayed on the display27. Specifically, the driver uses the selection switch 65 (specifically,the rightward switch, the leftward switch, the upward switch and thedownward switch of the selection switch 65) so as to tentatively choose(single out) a desired button from among “button elements” displayed onthe display 27. The tentatively chosen button is highlighted. Every timethe selection switch 65 is operated (pressed), the highlighted buttonchanges from one of the displayed button elements to another one inresponse to the pressed switch. Then, the driver presses the OK switch66 to select (or finally determine as the selected button) the desiredbutton which is being highlighted when the OK switch 66 is pressed. Theselected button continues being highlighted.

For example, the top screen 71 is displayed on the display 27, if thedriver has not performed any operation to the operation switches 60since the ignition-ON operation was performed and the drive assistanceECU 20 begun operation. An example of the top screen 71 in a case wherethe road sign assist function and the RCC function are executed is shownin FIG. 6. A menu button 81 a to a menu button 81 e are contained in thetop screen 71.

In the screen shown in FIG. 6 and other examples of screens shown inFIG. 7 to FIG. 18 described later, highlighted buttons are indicatedwith thick lines (heavy lines) surrounding the buttons. In the exampleshown in FIG. 6, the menu button 81 e is highlighted. When the menubutton 81 e is selected by means of the selection switch 65 and the OKswitch 66 (i.e., the menu button 81 e is determine to be the selectedbutton) by the driver, a vehicle setting screen 72 shown in FIG. 7 isdisplayed on the display 27.

The vehicle setting screen 72 contains a function button 82 a to afunction button 82 g and a back (return) button 83 a. The functionbutton 82 a to the function button 82 g are associated with the driveassistance functions other than the RCC function and the LTA function.When the back button 83 a is selected, the screen displayed on thedisplay 27 switches back to the top screen 71. Similarly, when the backswitch 67 shown in FIG. 4 is pressed while the vehicle setting screen 72is displayed on the display 27, the screen displayed on the display 27switches back to the top screen 71.

Notably, when the back switch 67 is pressed while a screen containingeach of back buttons 83 b to 83 h described later is displayed on thedisplay 27, the drive assistance ECU 20 executes the same processing asthe processing of screen transition which is executed when the backbutton (namely, any one of the back buttons 83 b to 83 h) displayed onthe display 27 is selected.

Description of setting changing procedure related to the drivingassistance functions is resumed. For example, when the function button82 a of the vehicle setting screen 72 is selected, a setting screen 73related to the pre-crush safety function shown in FIG. 8 is displayed onthe display 27. The setting screen 73 contains an ON button 84 a, an OFFbutton 84 b, and the back button 83 b. When the back button 83 b isselected, the screen displayed on the display 27 switches back to thevehicle setting screen 72.

If the request state of the pre-crush safety function is the ON state atthe time when the setting screen 73 starts to be displayed on thedisplay 27, the ON button 84 a is highlighted as shown in the example ofFIG. 8. Meanwhile, if the request state of the pre-crush safety functionis the OFF state at the time when the setting screen 73 starts to bedisplayed on the display 27, the OFF button 84 b is highlighted.

The driver can switch (change) the request state of the pre-crush safetyfunction between the ON state and the OFF state by an operation ofselecting either the ON button 84 a or the OFF button 84 b (namely, byan operation of changing (switching over) the highlighted button fromone of the ON button 84 a and the OFF button 84 b to the other one usingthe selection switch 65, and then pressing the OK switch 66).

Meanwhile, when the function button 82 c of the vehicle setting screen72 shown in FIG. 7 is selected, a setting screen 74 related to thepreceding vehicle start notification function shown in FIG. 9 isdisplayed on the display 27. The setting screen 74 contains an ON button85 a, an OFF button 85 b, distance buttons 86 a to 86 c, and the backbutton 83 c. The ON button 85 a and the OFF button 85 b are associatedwith the request state of the preceding vehicle start notificationfunction. Each of the distance buttons 86 a to 86 c is associated withthe notification distance which is the setting item related to thepreceding vehicle start notification function. When the back button 83 cis selected, the screen displayed on the display 27 switches back to thevehicle setting screen 72.

As understood from FIGS. 8 and 9, a setting screen related to a drivingassistance function which has a setting item (referred to as “additionalsetting item”) other than the request state contains buttons which areassociated with the other setting item. As understood from FIG. 9, thedriver is allowed to change the notification distance (serving as theadditional setting item) by selecting any one button from the distancebuttons 86 a, 86 b, and 86 c.

Setting Change Confirmation Processing

When a predetermined condition (which is also referred to as a “specificcondition” for convenience' sake.) is satisfied, the drive assistanceECU 20 executes a “setting change confirmation processing” to confirmwith the driver whether or not the request state of the drivingassistance function associated with the specific condition is to bechanged between the OFF state and the ON state. The driving assistancefunction associated with the specific condition is also referred to as a“confirmation target function” for convenience' sake.

In the setting change confirmation processing, the drive assistance ECU20 displays a changing confirmation screen described later (for example,a changing confirmation screen 75 a shown in FIG. 10) on the display 27in order to confirm whether or not the request state of the drivingassistance function (namely, the confirmation target function)associated with that setting change confirmation processing is to bechanged. Information distributed (given) to the driver by (through) thechanging confirmation screen is also referred to as “confirmationinformation” for convenience' sake.

Each of the changing confirmation screens contains an approval button(for example, an approval button 87 a shown in FIG. 10). When the driverselects the approval button in response to the confirmation information,the drive assistance ECU 20 changes the request state of theconfirmation target function associated with the confirmationinformation. An operation of selecting the approval button is alsoreferred to as an “approving operation” for convenience' sake.

In the present embodiment, the setting change confirmation processingincludes (is classified into) a “ROC starting confirmation processing,”an “operation stopping confirmation processing,” a “prerequisitefunction starting processing” and “operation starting suggestionprocessing.” Each setting change confirmation processing will next bedescribed.

Setting Change Confirmation Processing—RCC Starting ConfirmationProcessing

When the set switch of the CC switch 61 is pressed (while the mainswitch of the CC switch 61 is not pressed) in a case where the requeststate of the RCC function has been the OFF state, the drive assistanceECU 20 executes the RCC starting confirmation processing in order toconfirm with the driver whether or not the request state of the RCCfunction is to be switched to the ON state from the OFF state. Namely,as for the RCC starting confirmation processing, the RCC function is aconfirmation target function. The operation of pressing the set switchof the CC switch 61 without the operation of pressing the main switch ofthe CC switch 61 in the case where the request state of the RCC functionhas been the OFF state is also referred to as the “similar operation”for convenience' sake.

At the start of the RCC starting confirmation processing, the driveassistance ECU 20 displays the changing confirmation screen 75 a, whichis related to the RCC starting confirmation processing, shown in FIG. 10on the display 27. The changing confirmation screen 75 a contains theapproval button 87 a and a denial (rejection) button 87 b. In addition,the changing confirmation screen 75 a contains descriptions (messages)(namely, the confirmation information) which describe the ON operationof the RCC function and notify the driver that selecting the approvalbutton 87 a will cause the RCC function to change into the ON state.Specifically, the descriptions (messages) tell the driver (1) how toperform the ON operation of the RCC function (namely, a message thatpressing the set switch of the CC switch 61 within the predeterminedtime after the main switch of the CC switch 61 is pressed is the ONoperation of the RCC function), and (2) that the request state of theRCC function will be switched to the ON state if the approval button 87a currently shown on the changing confirmation screen 75 a is selected.

When the driver selects the approval button 87 a, the drive assistanceECU 20 switches the request state of the RCC function to the ON state,and sets the set speed Vset to a value which is equal to the vehiclespeed Vt at the present time. In addition, in this case, the driveassistance ECU 20 displays a changing notification screen 75 b relatedto the RCC starting confirmation processing shown in FIG. 11 on thedisplay 27 so as to notify the driver that the request state of the RCCfunction has been switched from the OFF state to the ON state.

The changing notification screen 75 b contains the back button 83 d.When the driver selects the back button 83 d, or when a state in whichthe back button 83 d is not selected continues for a predetermineddisplay time Td since/after the changing notification screen 75 b wasstarted to be displayed, the drive assistance ECU 20 starts to display ascreen which was displayed just/immediately before the changingconfirmation screen 75 a is displayed. Hereinafter, the screen which wasdisplayed immediately before the setting change confirmation processingis started to be displayed is also referred to as the “previous screen.”

Meanwhile, if the driver selects the denial button 87 b while thechanging confirmation screen 75 a is being displayed, the driveassistance ECU 20 keeps the request state of the RCC function in the OFFstate. Furthermore, when a state in which the neither the approvalbutton 87 a nor the denial button 87 b is selected continues for thedisplay time Td after/since the changing confirmation screen 75 a wasstarted to be displayed, the drive assistance ECU 20 also keeps therequest state of the RCC function in the OFF state. In addition, inthese cases, the drive assistance ECU 20 displays the previous screen onthe display 27. When the drive assistance ECU 20 starts to display theprevious screen on the display 27, the drive assistance ECU 20 ends theexecution of the RCC starting confirmation processing.

Incidentally, a period from a point in time of the ignition-ON operationto a point in time of the ignition-OFF operation is also referred to asa “trip.” The drive assistance ECU 20 does not execute the RCC startingconfirmation processing multiple times during a (one) trip. Namely, in aperiod from a point in time when the RCC starting confirmationprocessing is ended to a point in time of the ignition-OFF operation,the drive assistance ECU 20 does not execute the RCC startingconfirmation processing again, even if the set switch of the CC switch61 is pressed (while the main switch of the CC switch 61 is not pressed)in a state in which the request state of the RCC function has been theOFF state. In other words, the RCC starting confirmation processing isexecuted only once at most during the one trip.

Setting Change Confirmation Processing—Operation Stopping ConfirmationProcessing

When the driver performs the OFF operation related to one ofpredetermined driving assistance functions among the driving assistancefunctions described above, the drive assistance ECU 20 executes theoperation stopping confirmation processing to confirm with the driverwhether or not this OFF operation is performed intentionally.Specifically, the drive assistance ECU 20 executes the operationstopping confirmation processing when the OFF operation of any one ofthe driving assistance functions (referred to as “operation stoppingconfirmation target functions”) which are marked with a white circle ina column Cm1 of a table shown in FIG. 5. Each of the operation stoppingconfirmation target functions is the confirmation target functionrelated to the operation stopping confirmation processing. Each of theoperation stopping confirmation target functions is a function whoserequest state is preferably (or should be) maintained in the ON state asfar as there is no particular reason.

Now, the OFF operation of the pre-crush safety function which is one ofthe operation stopping confirmation target functions will next bedescribed in order to (exemplarily) describe the operation stoppingconfirmation processing. When the OFF button 84 b of the setting screen73 (see FIG. 8) is selected while the request state of the pre-crushsafety function has been the ON state (namely, when the OFF operation ofthe pre-crush safety function is performed), the drive assistance ECU 20starts the operation stopping confirmation processing.

The drive assistance ECU 20 displays “a changing confirmation screen 76a related to the operation stopping confirmation processing” exemplarilyshown in FIG. 12 on the display 27 at the start of the operationstopping confirmation processing. The changing confirmation screen 76 acontains an approval button 88 a and a denial (rejection) button 88 b.

When the driver selects the approval button 88 a, the drive assistanceECU 20 switches the request state of the pre-crush safety function fromthe ON state to the OFF state. In addition, in this case, the driveassistance ECU 20 displays “a changing notification screen 76 b relatedto the operation stopping confirmation processing” exemplarily shown inFIG. 13 on the display 27 so as to notify the driver that the requeststate of the pre-crush safety function has been switched to the OFFstate.

The changing notification screen 76 b contains the back button 83 e.When the driver selects the back button 83 e, or when a state in whichthe back button 83 e is not selected continues for the display time Tdafter/since the changing notification screen 76 b was started to bedisplayed, the drive assistance ECU 20 starts to display the previousscreen on the display 27.

Meanwhile, if the driver selects the denial button 88 b while thechanging confirmation screen 76 a is being displayed, the driveassistance ECU 20 keeps the request state of the pre-crush safetyfunction in the ON state. Furthermore, when a state in which the neitherthe approval button 88 a nor the denial button 88 b is selectedcontinues for the display time Td after/since the changing confirmationscreen 76 a was started to be displayed, the drive assistance ECU 20also keeps the request state of the pre-crush safety function in the ONstate. In addition, in these cases, the drive assistance ECU 20 startsto display the previous screen on the display 27.

Setting Change Confirmation Processing—Prerequisite Function StartingProcessing

As described above, the lane keeping assist function included in the LTAfunction is not executed unless the RCC function is being executed. Inother words, the RCC function is prerequisite (a prerequisite function)for executing the lane keeping assist function. In view of this, whenthe driver performs the ON operation of the LTA function while therequest state of the RCC function is the OFF state, the drive assistanceECU 20 executes the prerequisite function starting processing to confirmwith the driver whether or not the request state of the RCC function aswell as the request state of the LTA function is to be switched to theON state. Namely, when the LTA switch 64 is pressed while the requeststates of both the LTA function and the RCC function are the OFF state,the brake ECU 20 starts the prerequisite function starting processingrelated to the LTA function (more specifically, the lane keeping assistfunction). The RCC function is the confirmation target function relatedto the prerequisite function starting processing.

The drive assistance ECU 20 displays “a changing confirmation screen 77a related to the prerequisite function starting processing” shown inFIG. 14 on the display 27, at the start time of the prerequisitefunction starting processing. The changing confirmation screen 77 acontains an approval button 89 a and a denial button 89 b.

When the driver selects the approval button 89 a, the drive assistanceECU 20 switches each of the request states of the LTA function and theRCC function from the OFF state to the ON state, and sets the set speedVset to a value which is equal to the vehicle speed Vt at the presenttime. In addition, in this case, the drive assistance ECU 20 displays “afirst changing notification screen 77 b related to the prerequisitefunction starting processing” shown in FIG. 15 on the display 27 so asto notify the driver that the request states of the LTA function and theRCC function have been switched to the ON state.

The first changing notification screen 77 b contains the back button 83f. When the driver selects the back button 83 f, or when a state inwhich the back button 83 f is not selected continues for the displaytime Td after/since the first changing notification screen 77 b wasstarted to be displayed, the drive assistance ECU 20 starts to displaythe previous screen on the display 27.

Meanwhile, if the driver selects the denial button 89 b while thechanging confirmation screen 77 a is being displayed, the driveassistance ECU 20 switches the request state of the LTA function fromthe OFF state to the ON state, but keeps the request state of the RCCfunction in the OFF state. Furthermore, when a state in which theneither the approval button 89 a nor the denial button 89 b is selectedcontinues for the display time Td after/since the changing confirmationscreen 77 a was started to be displayed, the drive assistance ECU 20switches the request state of the LTA function from the OFF state to theON state, but keeps the request state of the RCC function in the OFFstate. In addition, in these cases, the drive assistance ECU 20 startsto display “a second changing notification screen 77 c related to theprerequisite function starting processing” shown in FIG. 16 to notifythe driver that only the request state of the LTA function has beenswitched to the ON state.

The second changing notification screen 77 c contains the back button 83g. When the driver selects the back button 83 g, or when a state inwhich the back button 83 g is not selected continues for the displaytime Td since/after the second changing notification screen 77 c wasstarted to be displayed, the drive assistance ECU 20 starts to displaythe previous screen on the display 27.

Setting Change Confirmation Processing—Operation Starting SuggestionProcessing

The driving assistance functions which are marked with a white circle ina column Cm2 of the table shown in FIG. 5 (namely, the LTA function, theRCC function, and the blind spot monitoring function) are particularlyuseful especially when the vehicle 10 is traveling on the expressway orthe limited highway. A state where the vehicle 10 is traveling on one ofthese ways is also referred to as a “specific traveling state” forconvenience' sake. However, while the traveling state of the vehicle 10is the specific traveling state, there may be a case where the requeststate(s) of a part of or all of these driving assistance functions(namely, the functions which are marked with the white circle in thecolumn Cm2, and hereinafter are also referred to as “traveling staterelated functions.”) is (are) the OFF state. Hereinafter, a drivingassistance function whose request state is the OFF state among thetraveling state related functions is also referred to as a “suggestiontarget function.”

When the present position Pn is on the “link” which represents eitherthe expressway or the limited highway in the map database 26, the driveassistance ECU 20 determines that the traveling state of the vehicle 10is the specific traveling state. If the suggestion target function ispresent when the traveling state of the vehicle 10 is the specifictraveling state, the drive assistance ECU 20 executes the “operationstarting suggestion processing” to suggest to the driver to switch therequest state of the suggestion target function to the ON state. Thesuggestion target function is the confirmation target function relatedto the operation starting suggestion processing.

The drive assistance ECU 20 displays “a changing confirmation screen 78a related to the operation starting suggestion processing” exemplarilyshown in FIG. 17 on the display 27, at the start time of the operationstarting suggestion processing. In the present example, the requeststate of the LTA function is the ON state and the request states of boththe RCC function and the blind spot monitoring function are the OFFstate, and thus, the RCC function and the blind spot monitoring functionare suggestion target functions. Accordingly, in this case, the driveassistance ECU 20 displays the changing confirmation screen 78 a so asto suggest to the driver to switch the request states of the suggestiontarget functions (namely, the RCC function and the blind spot monitoringfunction) to the ON state.

The changing confirmation screen 78 a contains an approval button 90 aand a denial button 90 b. When the driver selects the approval button 90a, the drive assistance ECU 20 switches each of the request states ofthe suggestion target functions (namely, the RCC function and the blindspot monitoring function in this example) from the OFF state to the ONstate. In addition, in this case, the drive assistance ECU 20 starts todisplay “a changing notification screen 78 b related to the operationstarting suggestion processing” shown in FIG. 18 on the display 27 so asto notify the driver that each of the request states of the suggestiontarget functions have been switched to the ON state.

The changing notification screen 78 b contains the back button 83 h.When the driver selects the back button 83 h, or when a state in whichthe back button 83 h is not selected continues for the display time Tdsince/after the changing notification screen 78 b was started to bedisplayed, the drive assistance ECU 20 starts to display the previousscreen on the display 27.

Meanwhile, when the driver selects the denial button 90 b while thechanging confirmation screen 78 a is being displayed, the driveassistance ECU 20 keeps the request states of the suggestion targetfunctions in the OFF state. Furthermore, when a state in which neitherthe approval button 90 a nor the denial button 90 b is selectedcontinues for the display time Td since/after the changing confirmationscreen 78 a was started to be displayed, the drive assistance ECU 20keeps each of the request states of the suggestion target functions inthe OFF state. In addition, in these cases, the drive assistance ECU 20starts to display the previous screen on the display 27.

Specific Operation

Next, specific operation of the drive assistance ECU 20 with respect tothe setting change confirmation processing will be described withreference to FIG. 19 to FIG. 22. The CPU of the drive assistance ECU 20(hereinafter also referred to as “the CPU” for simplification) executesan “RCC starting confirmation processing routine” represented by aflowchart shown in FIG. 19 every time a predetermined time elapses.

Therefore, when an appropriate timing has come, the CPU starts theprocess from step 1900 of FIG. 19 and proceeds to step 1905 so as todetermine whether or not the display state of the display 27 is a statewhere “the changing notification screen 75 b related to the RCC startingconfirmation processing” shown in FIG. 11 is not being displayed.

Case 1A

It is assumed that the request state of the RCC function is the OFFstate, the top screen 71 is being displayed on the display 27, and thedriver has not performed any operation to the CC switch 61 since theignition-ON operation was performed.

According to this assumption, the display state of the display 27 is astate where the changing notification screen 75 b is not beingdisplayed, and thus, the CPU makes a “Yes” determination in/at step 1905and proceeds to step 1910 so as to determine whether or not the displaystate of the display 27 is a state where the changing confirmationscreen 75 a shown in FIG. 10 related to the RCC starting confirmationprocessing is not being displayed.

According to the assumption described above, the display state of thedisplay 27 is a state where the changing confirmation screen 75 a is notbeing displayed, and thus, the CPU makes a “Yes” determination in step1910 and proceeds to step 1915 so as to determine whether or not therequest state of the RCC function is the OFF state. According to theassumption described above, the request state of the RCC function is theOFF state, and thus, the CPU makes a “Yes” determination in step 1915and proceeds to step 1920 so as to determine whether or not the setswitch of the CC switch 61 has been pressed since the present routinewas executed last time (at previous timing).

According to the assumption described above, no operation to the CCswitch 61 has been performed (namely, the set switch of the CC switch 61has not been pressed), and thus, the CPU makes a “No” determination instep 1920 and proceeds to step 1995 directly so as to end the presentroutine.

Case 1B

It is assumed that the operation of pressing the set switch of the CCswitch 61 was performed thereafter, and the present routine is beingexecuted for the first time after the operation to the set switch of theCC switch 61 was performed. In addition, it is also assumed that themain switch of the CC switch 61 has not been pressed yet.

In this case, the CPU proceeds to step 1920, makes a “Yes” determinationin step 1920, and proceeds to step 1925 so as to determine whether ornot the process of step 1925 is being executed for the first time duringthe current trip.

According to the assumption described above, the set switch has beenpressed for the first time during the current trip, and thus, the CPUmakes a “Yes” determination in step 1925 and proceeds to step 1930 so asto display the changing confirmation screen 75 a on the display 27. Atthis time, the CPU stores, as the previous screen, the screen which wasdisplayed immediately before the changing confirmation screen 75 astarts to be displayed (in the present assumption, the top screen 71) inthe RAM of the drive assistance ECU 20. Subsequently, the CPU proceedsto step 1995.

Case 1C

It is assumed that, thereafter, the display time Td has not elapsedsince the changing confirmation screen 75 a was started to be displayedand neither the approval button 87 a nor the denial button 87 b of thechanging confirmation screen 75 a has been selected yet.

In this case, the CPU makes a “No” determination in step 1910 andproceeds to step 1935 so as to determine whether or not the approvalbutton 87 a has already been selected since the present routine wasexecuted last time. According to the assumption described above, theapproval button 87 a has not been selected, and thus, the CPU makes a“No” determination in step 1935 and proceeds to step 1950 so as todetermine whether or not a display ending condition of the changingconfirmation screen 75 a is satisfied.

The display ending condition of the changing confirmation screen 75 a isa condition which is satisfied if at least one of “a condition (1a) anda condition (1b)” described below is satisfied.

Condition (1a): the denial button 87 b is selected.

Condition (1b): the display time Td has elapsed since the changingconfirmation screen 75 a was started to be displayed.

According to the assumption described above, neither the condition (1a)nor the condition (1b) is satisfied, and thus, the display endingcondition of the changing confirmation screen 75 a is not satisfied.Therefore, the CPU makes a “No” determination in step 1950 and proceedsto step 1995 directly.

Case 1D

It is assumed that, thereafter, the approval button 87 a of the changingconfirmation screen 75 a is selected before the display time Td haselapsed since the changing confirmation screen 75 a was started to bedisplayed.

In this case, the CPU makes a “Yes” determination in step 1935 andproceeds to step 1940 so as to switch the request state of the RCCfunction from the OFF state to the ON state. Subsequently, the CPUproceeds to step 1945 so as to display the changing notification screen75 b on the display 27. Thereafter, the CPU proceeds to step 1995.

Case 1E

It is assumed that, thereafter, the display time Td has not elapsed yetsince the changing notification screen 75 b was started to be displayed,and the back button 83 d of the changing notification screen 75 b hasnot been selected.

In this case, the CPU makes a “No” determination in step 1905 andproceeds to step 1955 so as to determine whether or not a display endingcondition of the changing notification screen 75 b is satisfied. Thedisplay ending condition of the changing notification screen 75 b is acondition which is satisfied if at least one of “a condition (1c) and acondition (1d)” described below is satisfied.

Condition (1c): the back button 83 d is selected.

Condition (1d): the display time Td has elapsed since the changingnotification screen 75 b was started to be displayed.

According to the assumption described above, neither the condition (1c)nor the condition (1d) is satisfied, and thus, the display endingcondition of the changing notification screen 75 b is not satisfied.Therefore, the CPU makes a “No” determination in step 1955 and proceedsto step 1995 directly.

Thereafter, when the back button 83 d is selected (namely, the condition(1c) becomes satisfied before the condition (1d) becomes satisfied), orwhen the display time Td has elapsed since the changing notificationscreen 75 b was started to be displayed (namely, the condition (1d)become satisfied), the CPU makes a “Yes” determination in step 1955 andproceeds to step 1960 so as to display the previous screen (in thepresent assumption, the top screen 71) on the display 27. Thereafter,the CPU proceeds to step 1995.

Case 1F

It is assumed that, thereafter, the OFF operation of the RCC functionwas performed, the set switch of the CC switch 61 is pressed, but themain switch of the CC switch 61 has not been pressed. In addition, it isalso assumed that the ignition-OFF operation has not been performedsince the process of step 1930 was executed in the above-described Case1B.

In this case, the CPU makes a “No” determination in step 1925 andproceeds to step 1995 directly. Namely, in this case, the RCC startingconfirmation processing is not executed, and the request state of theRCC function is kept in the OFF state.

Case 1G

Next, it is assumed that the display ending condition of the changingconfirmation screen 75 a is satisfied (namely, at least one of “thecondition (1a) and the condition (1b)” described above is satisfied)while the changing confirmation screen 75 a is being displayed.

In this case, the CPU makes a “Yes” determination in step 1950 andproceeds to step 1960. Namely, in this case, the request state of theRCC function is kept in the OFF state, and the previous screen starts tobe displayed on the display 27.

Case 1H

Next, it is assumed that the request state of the RCC function is the ONstate.

In this case, the CPU makes a “No” determination in step 1915 andproceeds to step 1995 directly.

It should be noted that if the ON operation of the RCC function isperformed (namely, if the set switch of the CC switch 61 is pressedafter the main switch of the CC switch 61 is pressed) while the requeststate of the RCC function is the OFF state, the CPU executes anotherroutine (not shown) so as to switch the request state of the RCCfunction to the ON state.

Next, an “operation stopping confirmation processing routine”represented by a flowchart shown in FIG. 20 will be described. The CPUexecutes the present routine (the operation stopping confirmationprocessing routine) every time a predetermined time elapses. Therefore,when an appropriate timing has come, the CPU starts the process fromstep 2000 of FIG. 20 and proceeds to step 2005 so as to determinewhether or not the display state of the display 27 is a state where thechanging notification screen 76 b (see FIG. 13) related to the operationstopping confirmation processing is not being displayed on the display27.

Case 2A

It is assumed that the vehicle setting screen 72 (see FIG. 7) is beingdisplayed on the display 27 at the present time, and the OFF operationof any one of the operation stopping confirmation target function(s) hasnot been performed.

According to this assumption, the changing notification screen 76 b isnot being displayed on the display 27, and thus, the CPU makes a “Yes”determination in step 2005 and proceeds to step 2010 so as to determinewhether or not the display state of the display 27 is a state where thechanging confirmation screen 76 a (see FIG. 12) related to the operationstopping confirmation processing is not being displayed on the display27.

According to the assumption described above, the display state of thedisplay 27 is a state where the changing confirmation screen 75 a is notbeing displayed, and thus, the CPU makes a “Yes” determination in step2010 and proceeds to step 2015 so as to determine whether or not the OFFoperation of the operation stopping confirmation target function hasbeen performed since the present routine was executed last time.According to the assumption described above, the OFF operation of theoperation stopping confirmation target function has not been performed,and thus, the CPU makes a “No” determination in step 2015 and proceedsto step 2095 directly so as to end the present routine.

Case 2B

It is assumed that, thereafter, the OFF operation of one of theoperation stopping confirmation target function(s) has been performed,and the present routine is being executed for the first time after thatOFF operation.

According to this assumption, the CPU makes a “Yes” determination instep 2015 and proceeds to step 2020 so as to display the changingconfirmation screen 76 a on the display 27. At this time, the CPUstores, as the previous screen, the screen which was displayedimmediately before the changing confirmation screen 76 a is started tobe displayed (in the present assumption, the vehicle setting screen 72)in the RAM. Subsequently, the CPU proceeds to step 2095.

Case 2C

It is assumed that, thereafter, the display time Td has not elapsedsince the changing confirmation screen 76 a was started to be displayedand neither the approval button 88 a nor the denial button 88 b of thechanging confirmation screen 76 a has been selected yet.

In this case, the CPU makes a “No” determination in step 2010 andproceeds to step 2025 so as to determine whether or not the approvalbutton 88 a has already been selected since the present routine wasexecuted last time. According to the assumption described above, theapproval button 88 a has not been selected, and thus, the CPU makes a“No” determination in step 2025 and proceeds to step 2040 so as todetermine whether or not a display ending condition of the changingconfirmation screen 76 a is satisfied.

The display ending condition of the changing confirmation screen 76 a isa condition which is satisfied if at least one of “a condition (2a) anda condition (2b)” described below is satisfied.

Condition (2a): the denial button 88 b is selected.

Condition (2b): the display time Td has elapsed since the changingconfirmation screen 76 a was started to be displayed.

According to the assumption described above, neither the condition (2a)nor the condition (2b) is satisfied, and thus, the display endingcondition of the changing confirmation screen 76 a is not satisfied.Therefore, the CPU makes a “No” determination in step 2040 and proceedsto step 2095 directly.

Case 2D

It is assumed that, thereafter, the approval button 88 a of the changingconfirmation screen 76 a is selected before the display time Td haselapsed since the changing confirmation screen 76 a was started to bedisplayed.

In this case, the CPU makes a “Yes” determination in step 2025 andproceeds to step 2030 so as to switch the request state of “theoperation stopping confirmation target function on which the OFFoperation of was performed” from the ON state to the OFF state.Subsequently, the CPU proceeds to step 2035 so as to display thechanging notification screen 76 b related to the operation stoppingconfirmation processing on the display 27. Further, the CPU proceeds tostep 2095.

Case 2E

It is assumed that, thereafter, the display time Td has not elapsed yetsince the changing notification screen 76 b was started to be displayed,and the back button 83 e of the changing notification screen 76 b hasnot been selected.

In this case, the CPU makes a “No” determination in step 2005 andproceeds to step 2045 so as to determine whether or not a display endingcondition of the changing notification screen 76 b is satisfied. Thedisplay ending condition of the changing notification screen 76 b is acondition which is satisfied if at least one of “a condition (2c) and acondition (2d)” described below is satisfied.

Condition (2c): the back button 83 e is selected.

Condition (2d): the display time Td has elapsed since the changingnotification screen 76 b was started to be displayed.

According to the assumption described above, neither the condition (2c)nor the condition (2d) is satisfied, and thus, the display endingcondition of the changing notification screen 76 b is not satisfied.Therefore, the CPU makes a “No” determination in step 2045 and proceedsto step 2095 directly.

Thereafter, when the back button 83 e is selected (namely, the condition(2c) is satisfied before the condition (2d) is satisfied) or the displaytime Td has elapsed since the changing notification screen 76 b wasstarted to be displayed (namely, the condition (2d) is satisfied), theCPU makes a “Yes” determination in step 2045 and proceeds to step 2050so as to display the previous screen (in the present assumption, thevehicle setting screen 72) on the display 27. Further, the CPU proceedsto step 2095.

Case 2F

Next, it is assumed that the display ending condition of the changingconfirmation screen 76 a is satisfied (namely, at least one of theabove-described condition (2a) and the above-described condition (2b) issatisfied) while the changing confirmation screen 76 a is beingdisplayed.

In this case, the CPU makes a “Yes” determination in step 2040 andproceeds to step 2050. Namely, in this case, the request state of theoperation stopping confirmation target function on which the OFFoperation of was performed under the present assumption is kept in theON state, and the previous screen is displayed on the display 27.

Next, a “prerequisite function starting processing routine” representedby a flowchart shown in FIG. 21 will be described. The CPU executes thepresent routine every time a predetermined time elapses. Therefore, whenan appropriate timing has come, the CPU starts the process from step2100 of FIG. 21 and proceeds to step 2105 so as to determine whether ornot the display state of the display 27 is a state where neither thefirst changing notification screen 77 b (see FIG. 15) nor the secondchanging notification screen 77 c (see FIG. 16) related to theprerequisite function starting processing is being displayed on thedisplay 27.

Case 3A

It is assumed that the top screen 71 is being displayed on the display27, the request states of both the LTA function and the RCC function arethe OFF state, and neither the ON operation of the LTA function nor theON operation of the RCC function has been performed at the present time.

According to this assumption, neither the first changing notificationscreen 77 b nor the second changing notification screen 77 c is beingdisplayed on the display 27, and thus, the CPU makes a “Yes”determination in step 2105 and proceeds to step 2110 so as to determinewhether or not the display state of the display 27 is a state where thechanging confirmation screen 77 a related to the prerequisite functionstarting processing (see FIG. 14) is not being displayed on the display27.

According to the assumption described above, the display state of thedisplay 27 is a state where the changing confirmation screen 77 a is notbeing displayed, and thus, the CPU makes a “Yes” determination in step2110 and proceeds to step 2115 so as to determine whether or not the ONoperation of the LTA function has been performed since the presentroutine was executed last time. According to the assumption describedabove, the ON operation of the LTA function has not been performed, andthus, the CPU makes a “No” determination in step 2115 and proceeds tostep 2195 directly so as to end the present routine.

Case 3B

It is assumed that, thereafter, the ON operation of the LTA function isperformed, and the present routine is being executed for the first timeafter the ON operation.

According to this assumption, the CPU makes a “Yes” determination instep 2115 and proceeds to step 2120 so as to determine whether or notthe request state of the RCC function is the OFF state. According to theassumption described above, the request state of the RCC function is theOFF state, and thus, the CPU makes a “Yes” determination in step 2120and proceeds to step 2125 so as to display the changing confirmationscreen 77 a on the display 27. At this time, the CPU stores, as theprevious screen, the screen which was displayed immediately before thechanging confirmation screen 77 a is started to be displayed (in thepresent assumption, the top screen 71) in the RAM. Subsequently, the CPUproceeds to step 2195.

Case 3C

It is assumed that, thereafter, the display time Td has not elapsedsince the changing confirmation screen 77 a was started to be displayedand neither the approval button 89 a nor the denial button 89 b of thechanging confirmation screen 77 a has been selected yet.

In this case, the CPU makes a “No” determination in step 2110 andproceeds to step 2130 so as to determine whether or not the approvalbutton 89 a has already been selected since the present routine wasexecuted last time. According to the assumption described above, theapproval button 89 a has not been selected, and thus, the CPU makes a“No” determination in step 2130 and proceeds to step 2150 so as todetermine whether or not a display ending condition of the changingconfirmation screen 77 a is satisfied.

The display ending condition of the changing confirmation screen 77 a isa condition which is satisfied if at least one of “a condition (3a) anda condition (3b)” described below is satisfied.

Condition (3a): the denial button 89 b is selected.

Condition (3b): the display time Td has elapsed since the changingconfirmation screen 77 a was started to be displayed.

According to the assumption described above, neither the condition (3a)nor the condition (3b) is satisfied, and thus, the display endingcondition of the changing confirmation screen 77 a is not satisfied.Therefore, the CPU makes a “No” determination in step 2150 and proceedsto step 2195 directly.

Case 3D

It is assumed that, thereafter, the approval button 89 a of the changingconfirmation screen 77 a is selected before the display time Td haselapsed since the changing confirmation screen 77 a was started to bedisplayed.

In this case, the CPU makes a “Yes” determination in step 2130 andproceeds to step 2135 so as to display the first changing notificationscreen 77 b related to the prerequisite function starting processing onthe display 27. Subsequently, the CPU proceeds to step 2140 so as toswitch the request state of the RCC function to the ON state. Inaddition, the CPU proceeds to step 2145 so as to switch the requeststate of the LTA function to the ON state. Thereafter, the CPU proceedsto step 2195.

Case 3E

It is assumed that, thereafter, the display time Td has not elapsed yetsince the first changing notification screen 77 b was started to bedisplayed, and the back button 83 f of the first changing notificationscreen 77 b has not been selected.

In this case, the CPU makes a “No” determination in step 2105 andproceeds to step 2160 so as to determine whether or not a display endingcondition of the first changing notification screen 77 b and the secondchanging notification screen 77 c is satisfied. The display endingcondition of the first changing notification screen 77 b and the secondchanging notification screen 77 c is a condition which is satisfied ifat least one of “a condition (3c) and a condition (3d)” described belowis satisfied.

Condition (3c): the back button 83 f or the back button 83 g isselected.

Condition (3d): the display time Td has elapsed since either the firstchanging notification screen 77 b or the second changing notificationscreen 77 c was started to be displayed.

According to the assumption described above, neither the condition (3c)nor the condition (3d) is satisfied, and thus, the display endingcondition of the first changing notification screen 77 b and the secondchanging notification screen 77 c is not satisfied. Therefore, the CPUmakes a “No” determination in step 2160 and proceeds to step 2195directly.

Thereafter, when the back button 83 f is selected (namely, the condition(3c) is satisfied before the condition (3d) is satisfied) or the displaytime Td has elapsed since the first changing notification screen 77 bwas started to be displayed (namely, the condition (3d) is satisfied),the CPU makes a “Yes” determination in step 2160 and proceeds to step2165 so as to display the previous screen (in the present assumption,the top screen 71) on the display 27. Thereafter, the CPU proceeds tostep 2195.

Case 3F

Next, it is assumed that the display ending condition of the changingconfirmation screen 77 a is satisfied (namely, at least one of theabove-described condition (3a) and the above-described condition (3b) issatisfied) while the changing confirmation screen 77 a is beingdisplayed.

In this case, the CPU makes a “Yes” determination in step 2150 andproceeds to step 2155 so as to display the second changing notificationscreen 77 c on the display 27. Subsequently, the CPU proceeds to step2145, and then, proceeds to step 2195. Namely, in this case, the requeststate of the RCC function is kept in the OFF state without beingswitched to the ON state, while the request state of the LTA function isswitched from the OFF state to the ON state.

Case 3G

Next, it is assumed that the top screen 71 is being displayed on thedisplay 27, the request state of the RCC function has been the ON state,and the ON operation of the LTA function has been performed.

According to this assumption, the CPU makes a “No” determination in step2120 and proceeds to step 2145.

Next, an “operation starting suggestion processing routine” representedby a flowchart shown in FIG. 22 will be described. The CPU executes thepresent routine every time a predetermined time elapses. Therefore, whenan appropriate timing has come, the CPU starts the process from step2200 of FIG. 22 and proceeds to step 2205 so as to determine whether ornot the display state of the display 27 is a state where the changingnotification screen 78 b (see FIG. 18) related to the operation startingsuggestion processing is not being displayed on the display 27.

Case 4A

It is assumed that the vehicle setting screen 72 is being displayed onthe display 27, each of the request states of both the RCC function andthe blind spot monitoring function has been the OFF state, the requeststate of the LTA function has been the ON state, and the traveling stateof the vehicle 10 is not being the specific traveling state.

According to this assumption, the changing notification screen 78 b isnot being displayed on the display 27, and thus, the CPU makes a “Yes”determination in step 2205 and proceeds to step 2210 so as to determinewhether or not the display state of the display 27 is a state where thechanging confirmation screen 78 a (see FIG. 17) related to the operationstarting suggestion processing is not being displayed on the display 27.

According to the assumption described above, the display state of thedisplay 27 is the state where the changing confirmation screen 78 a isnot being displayed, and thus, the CPU makes a “Yes” determination instep 2210 and proceeds to step 2215 so as to determine whether or notthe traveling state of the vehicle 10 is the specific traveling state.According to the assumption described above, the traveling state of thevehicle 10 is not being the specific traveling state, and thus, the CPUmakes a “No” determination in step 2215 and proceeds to step 2295directly so as to end the present routine.

Case 4B

It is assumed that, thereafter, the traveling state of the vehicle 10has become the specific traveling state, and the present routine isbeing executed for the first time after the change of the travelingstate.

According to this assumption, the CPU makes a “Yes” determination instep 2215 and proceeds to step 2220 so as to determine whether or notthe suggestion target function(s) is/are present. According to theassumption described above, the RCC function and the blind spotmonitoring function fall into the suggestion target functions.

Therefore, the CPU makes a “Yes” determination in step 2220 and proceedsto step 2225 so as to display the changing confirmation screen 78 a onthe display 27. At this time, the CPU stores, as the previous screen,the screen which was displayed immediately before the changingconfirmation screen 78 a is started to be displayed (in the presentassumption, the vehicle setting screen 72) in the RAM. Subsequently, theCPU proceeds to step 2295.

Case 4C

It is assumed that, thereafter, the display time Td has not elapsedsince the changing confirmation screen 78 a was started to be displayedand neither the approval button 90 a nor the denial button 90 b of thechanging confirmation screen 78 a has been selected yet.

In this case, the CPU makes a “No” determination in step 2210 andproceeds to step 2230 so as to determine whether or not the approvalbutton 90 a has already been selected since the present routine wasexecuted last time. According to the assumption described above, theapproval button 90 a has not been selected, and thus, the CPU makes a“No” determination in step 2230 and proceeds to step 2245 so as todetermine whether or not a display ending condition of the changingconfirmation screen 78 a is satisfied.

The display ending condition of the changing confirmation screen 78 a isa condition which is satisfied if at least one of “a condition (4a) anda condition (4b)” described below is satisfied.

Condition (4a): the denial button 90 b is selected.

Condition (4b): the display time Td has elapsed since the changingconfirmation screen 78 a was started to be displayed.

According to the assumption described above, neither the condition (4a)nor the condition (4b) is satisfied, and thus, the display endingcondition of the changing confirmation screen 78 a is not satisfied.Therefore, the CPU makes a “No” determination in step 2245 and proceedsto step 2295 directly.

Case 4D

It is assumed that, thereafter, the approval button 90 a of the changingconfirmation screen 78 a is selected before the display time Td haselapsed since the changing confirmation screen 78 a was started to bedisplayed.

In this case, the CPU makes a “Yes” determination in step 2230 andproceeds to step 2235 so as to switch the request state(s) of thesuggestion target function(s) (in the present assumption, the RCCfunction and the blind spot monitoring function) from the OFF state tothe ON state.

Subsequently, the CPU proceeds to step 2240 so as to display thechanging notification screen 78 b related to the operation startingsuggestion processing on the display 27. Further, the CPU proceeds tostep 2295.

Case 4E

It is assumed that, thereafter, the display time Td has not elapsed yetsince the changing notification screen 78 b was started to be displayed,and the back button 83 h of the changing notification screen 78 b hasnot been selected.

In this case, the CPU makes a “No” determination in step 2205 andproceeds to step 2250 so as to determine whether or not a display endingcondition of the changing notification screen 78 b is satisfied. Thedisplay ending condition of the changing notification screen 78 b is acondition which is satisfied if at least one of “a condition (4c) and acondition (4d)” described below is satisfied.

Condition (4c): the back button 83 h is selected.

Condition (4d): the display time Td has elapsed since the changingnotification screen 78 b was started to be displayed.

According to the assumption described above, neither the condition (4c)nor the condition (4d) is satisfied, and thus, the display endingcondition of the changing notification screen 78 b is not satisfied.Therefore, the CPU makes a “No” determination in step 2250 and proceedsto step 2295 directly.

Thereafter, when the back button 83 h is selected (namely, the condition(4c) is satisfied before the condition (4d) is satisfied) or the displaytime Td has elapsed since the changing notification screen 78 b wasstarted to be displayed (namely, the condition (4d) is satisfied), theCPU makes a “Yes” determination in step 2250 and proceeds to step 2255so as to display the previous screen (in the present assumption, thevehicle setting screen 72) on the display 27. Thereafter, the CPUproceeds to step 2295.

Case 4F

Next, it is assumed that the display ending condition of the changingconfirmation screen 78 a is satisfied (namely, at least one of theabove-described condition (4a) and the above-described condition (4b) issatisfied) while the changing confirmation screen 78 a is beingdisplayed.

In this case, the CPU makes a “Yes” determination in step 2245 andproceeds to step 2255. Namely, in this case, the request state(s) of thesuggestion target function(s) is/are kept in the OFF state and theprevious screen is started to be displayed on the display 27.

Case 4G

Next, it is assumed that there is no suggestion target function when thetraveling state of the vehicle 10 becomes the specific traveling state.

In this case, the CPU makes a “No” determination in step 2220 andproceeds to step 2295 directly.

Modification of Embodiment

Next, a modification of the embodiment will be described. The presentmodification is different from the above-described embodiment only inthat the main switch of the CC switch 61 is omitted and the ON operationof the RCC function is pressing the set switch of the CC switch 61.

When the set switch of the CC switch 61 is pressed while the requeststate of the RCC function has been the OFF state, the drive assistanceECU 20 displays the changing confirmation screen 75 a (see FIG. 10)related to the RCC starting confirmation processing on the display 27.Namely, the drive assistance ECU 20 starts the RCC starting confirmationprocessing related to the present modification.

In the present modification, the changing confirmation screen 75 acontains a description which explains that the request state of the RCCfunction will be switched to the ON state if the approval button 87 a isselected.

When the approval button 87 a is selected before the display time Tdelapses since the changing confirmation screen 75 a was displayed, thedrive assistance ECU 20 switches the request state of the RCC functionto the ON state. In addition, the drive assistance ECU 20 displays thechanging notification screen 75 b (see FIG. 11) related to the RCCstarting confirmation processing on the display 27.

As described above, the drive assistance ECU 20 can prevent (avoid), byexecuting the setting change confirmation processing, the occurrence oferroneous setting of the request states of the driving assistancefunctions, which erroneous setting would otherwise occur due to thedriver's erroneous operation or misunderstanding. More specifically,according to the RCC starting confirmation processing, in a case wherethe driver performs the similar operation (in the present embodiment,the operation of pressing the set switch of the CC switch 61 withoutpressing the main switch of the CC switch 61), the request state of theRCC function can be easily switched from the OFF state to the ON state.

In addition, according to the operation stopping confirmationprocessing, erroneously changing of the request state of the operationstopping confirmation target function to the OFF state can be avoided.According to the prerequisite function starting processing, in a casewhere the driver has forgotten (failed) to switch the request state ofthe prerequisite function to the ON state or in a case where the driverdoes not know the presence of the prerequisite function, the requeststate of the prerequisite function can be easily switched from the OFFstate to the ON state.

Further, according to the operation starting suggestion processing, in acase where the driver has forgotten (failed) to switch the request stateof the suggestion target function (specifically, the traveling staterelated function) to the ON state or in a case where the driver does notunderstand the usefulness of the suggestion target function, the requeststate of the suggestion target function can be easily switched from theOFF state to the ON state.

Further, since the RCC starting confirmation processing is executed onlyonce in the same (single) trip, it is possible to avoid a situation inwhich the changing confirmation screen (namely, the changingconfirmation screen 75 a shown in FIG. 10) is repeatedly displayed forthe driver who has already understood the ON operation of the RCCfunction by (through) the changing confirmation screen. Namely, it ispossible to avoid a situation in which “the driver who has erroneouslypressed the set switch of the CC switch 61 without pressing the mainswitch of the CC switch 61 when the request state of the RCC functionwas the OFF state” feels a sense of bother or troublesome due torepetition of executing the RCC starting confirmation processing.

Although the embodiment and the modification of the changing operationassisting apparatus according to the present disclosure have beendescribed, the present disclosure is not limited to the above-describedembodiment and the modification, and may be changed in various wayswithout departing from the scope of the present disclosure. For example,the drive assistance ECU 20 according to the present embodiment executesthe RCC starting confirmation processing, the operation stoppingconfirmation processing, the prerequisite function starting processing,and the operation starting suggestion processing as the setting changeconfirmation processing. However, the drive assistance ECU 20 may beconfigured not to execute a part of the setting change confirmationprocessing.

In addition, in the present embodiment, the drive assistance ECU 20executes the RCC starting confirmation processing when the driverpresses the set switch of the CC switch 61 without pressing the mainswitch of the CC switch 61 while the request state of the RCC functionhas been the OFF state. Namely, the drive assistance ECU 20 confirmswith the driver whether to switch the request state of the RCC functionfrom the OFF state to the ON state when the predetermined “similaroperation” corresponding to the ON operation of the RCC function isperformed. Meanwhile, the drive assistance ECU 20 may be configured toexecute a setting change confirmation processing similar to the RCCstarting confirmation processing for the other driving assistancefunction than the RCC function. For example, if the ON operation of theLTA function consists of pressing a “basic switch” which is not shownand pressing the LTA switch 64 before a predetermined time has elapsedafter the press of the basic switch, the drive assistance ECU 20 may beconfigured to confirm with the driver whether to switch the requeststate of the LTA function to the ON state by displaying a changingconfirmation screen similar to the changing confirmation screen 75 ashown in FIG. 10 on the display 27 when the LTA switch 64 is pressedwhile the basic switch has not been pressed and the request state of theLTA function has been the OFF state.

In addition, in the present embodiment, the drive assistance ECU 20executes the RCC starting confirmation processing only once in the same(single) trip. Whereas, the drive assistance ECU 20 may be configured toexecute the RCC starting confirmation processing a plurality of times inthe same (single) trip. Furthermore, the drive assistance ECU 20 may beconfigured to execute the other setting change confirmation processingthan the RCC starting confirmation processing only once in the same(single) trip.

In addition, in the present embodiment, the confirmation information isprovided through the changing confirmation screens displayed on thedisplay 27. However, the confirmation information may be provided byanother method than using the changing confirmation screens. Forexample, the confirmation information may be provided through a voicemessage reproduced by the speaker 28. Furthermore, in the presentembodiment, the approving operation is the operation to the operationswitches 60. However, the approving operation may be different fromthese kinds of operation. For example, the approving operation may be anoperation which is achieved when the driver says “a word or a phraseindicating approval” to a microphone which is not shown and connected tothe drive assistance ECU 20.

In addition, in the present embodiment, the drive assistance ECU 20switches the request state of the LTA function from the OFF state to theON state if the approval button 89 a is not selected in the period inwhich the prerequisite function starting processing is being executed(specifically, if the display ending condition of the changingconfirmation screen 77 a is satisfied). However, the drive assistanceECU 20 may be configured not to switch the request state of the LTAfunction from the OFF state to the ON state when the display endingcondition of the changing confirmation screen 77 a is satisfied. Namely,in this case, each of the request states of both the LTA function andthe RCC function may be kept in the OFF state.

In addition, in the present embodiment, the specific traveling staterelated to the operation starting suggestion processing is a state inwhich the vehicle 10 is traveling on the expressway or the limitedhighway. Furthermore, in the present embodiment, the traveling staterelated functions related to the operation starting suggestionprocessing are the driving assistance functions which are marked withthe white circle in the column Cm2 of the table shown in FIG. 5.However, the specific traveling state and the traveling state relatedfunctions may be different from what are described above. For example,the drive assistance ECU 20 may be configured to determine that thetraveling state of the vehicle 10 is the specific traveling state whenthe present position Pn is on/in the “facility.” In this case, thetraveling state related functions may be the driving assistancefunctions which are marked with a white circle in a column Cm3 of thetable shown in FIG. 5 (namely, the clearance sonar function, the rearcross traffic alarm function, and the parking support brake function).

In addition, in the present embodiment, the drive assistance ECU 20executes the prerequisite function starting processing, when the driverperforms the ON operation of the LTA function while the request state ofthe RCC function has been the OFF state. However, the combination of thedriving assistance functions (in the present embodiment, the LTAfunction and the RCC function which is the prerequisite function) whichinduces the drive assistance ECU 20 to execute the prerequisite functionstarting processing may be different from those described. For example,the combination of the driving assistance functions which induces thedrive assistance ECU 20 to execute the prerequisite function startingprocessing may be a combination of the RCC function and an“inter-vehicle communication function” which is the prerequisitefunction. In this case, when the driver performs the ON operation of theRCC function while the request state of the inter-vehicle communicationfunction has been the OFF state, the drive assistance ECU 20 executesthe setting change confirmation processing (namely, the prerequisitefunction starting processing) in order to confirm with the driverwhether or not the request state of the inter-vehicle communicationfunction in addition to the request state of the RCC function is to beswitched to the ON state.

Notably, the inter-vehicle communication function is a well-knownfunction for receiving information regarding a traveling state(traveling information) from an other vehicle which transmits thetraveling information of the other vehicle and transmitting thetraveling information to the other vehicle by wireless communication. Inthis case, when the request states of both the RCC function and theinter-vehicle communication function are the ON state and the vehicle 10receives the traveling information from the following target vehicle,the drive assistance ECU 20 can determine the target acceleration Astgwith reference to the traveling information of the following targetvehicle. And thus, the vehicle 10 can quickly follows a change in thetraveling speed of the following target vehicle.

1. A changing operation assisting apparatus comprising: a drivingassistance control section which is implemented by at least oneprogrammed processor and is configured to store a set state regardingeach of driving assistance functions of a vehicle, the set stateincluding a request state which is either one of an OFF state and an ONstate, and to provide said driving assistance functions in accordancewith each of said set states; an operation section which is used for anoperation by a driver of said vehicle for changing said set state and isconfigured to output, to said driving assistance control section,information regarding said operation performed by said driver, saidoperation including a predetermined request state changing operationperformed so as to change said request state; and an informationproviding section which is configured to be controlled by said drivingassistance control section and provide information regarding said setstate to said driver; wherein said driving assistance control sectionexecutes a setting change confirmation processing upon satisfaction of apredetermined specific condition; said setting change confirmationprocessing being a process of controlling said information providingsection to provide, to said driver, confirmation information to confirmwhether to change said request state of a confirmation target functionamong said driving assistance functions, and of changing said requeststate of said confirmation target function when said driver performs apredetermined approving operation by using said operation section inaccordance with said confirmation information.
 2. The changing operationassisting apparatus according to claim 1, wherein said drivingassistance control section is configured to determine that said specificcondition is satisfied upon satisfaction of a condition which issatisfied when said driver has performed, to said operation section, apredetermined similar operation which is different from said requeststate changing operation for changing said request state of saidconfirmation target function to the ON state and which is apt to beperformed by said driver in order for said driver to change said requeststate to the ON state.
 3. The changing operation assisting apparatusaccording to claim 1, wherein said driving assistance control section isconfigured to determine that said specific condition is satisfied uponsatisfaction of a condition which is satisfied when said driver hasperformed, for said confirmation target function, said request statechanging operation for changing said request state of said drivingassistance function to the OFF state.
 4. The changing operationassisting apparatus according to claim 1, wherein said drivingassistance control section is configured to determine that said specificcondition is satisfied upon satisfaction of a condition which issatisfied when said request state changing operation is performed so asto change said request state of said driving assistance function, whichhas been related to said confirmation target function in advance and isdifferent from said confirmation target function, to the ON state whilesaid request state of said confirmation target function has been the OFFstate.
 5. The changing operation assisting apparatus according to claim1, wherein said driving assistance control section is configured todetermine that said specific condition is satisfied upon satisfaction ofa condition which is satisfied when a traveling state of said vehiclecorresponds to a specific traveling state previously determined for saidconfirmation target function while said request state of saidconfirmation target function has been the OFF state.
 6. The changingoperation assisting apparatus according to claim 1, wherein said drivingassistance control section is configured to determine that said specificcondition is satisfied upon satisfaction of a condition which issatisfied when said request state changing operation corresponding tosaid confirmation target function is performed.
 7. The changingoperation assisting apparatus according to claim 1, wherein said drivingassistance control section is configured such that, in a case where saidsetting change confirmation processing has been executed after anignition-ON operation of said vehicle is performed, said drivingassistance control section does not execute said setting changeconfirmation processing again before an ignition-OFF operation of saidvehicle is performed, even when said specific condition is satisfied.